Wind Turbine Blade Cover Installation Robot

Abstract

The present invention provides a wind power blade cover plate installation robot, which relates to the field of wind power blade installation. It includes a chassis assembly, a lifting assembly, a telescopic assembly, a posture adjustment assembly and a clamping assembly. The clamping assembly includes a tensioning fixed seat, a connecting rod, a moving seat, a tensioning connecting plate, a tensioning plate, a clamping claw, a tensioning lead screw and a motor. The lifting assembly includes a lifting frame, a first bearing, a chain connecting plate, a first lifting mechanism and a second lifting mechanism. In the present invention, the gear and the rack in the telescopic assembly are meshed and driven, and the chain and the sprocket are meshed with each other to achieve multi-stage telescoping and increase the elongation stroke. The moving seat in the clamping assembly slides along the tensioning lead screw, so that the angle of the articulated mechanism formed by each connecting rod changes, realizing the tensioning of the inner wall of the manhole of the blade cover plate. And the blade cover plate is clamped by the clamping claw to prevent the blade cover plate from sliding. Through the setting of each component, the spatial position of the blade cover plate is adjusted, thereby improving the installation accuracy and efficiency of the wind power blade cover plate.

Description

Technical Field

[0001] The present invention relates to the field of wind turbine blade installation, and particularly to a wind turbine blade cover plate installation robot. Background Art

[0002] Currently in the wind power industry, most of the manufacturing and installation processes still need to be handled manually. Since the size of the blades in use is getting larger and larger, it becomes difficult to install large-diameter blades manually. In order to prevent dust, a cover plate is installed at the root of the wind turbine blade. However, the inner cavity of the wind turbine blade needs to be inspected and maintained frequently. Therefore, the cover plate installed at the root of the wind turbine blade is a cover plate with a manhole or inspection hole to facilitate manual access to the inner cavity of the blade. At present, the installation of the cover plate at the blade root is still carried out manually without auxiliary devices. Since the cover plate is relatively heavy, generally multiple people are needed to assist in the installation, which is time-consuming and laborious, and affects work efficiency and product quality.

[0003] Therefore, an automated installation robot is needed to replace manual work, which can not only avoid harm to the workers' bodies but also improve work efficiency. Thus, the present invention proposes a wind turbine blade cover plate installation robot to improve the installation accuracy and efficiency of wind turbine blades. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides a wind turbine blade cover plate installation robot. Through the meshing transmission of the gear and the rack in the telescopic assembly and the mutual meshing of the chain and the sprocket, multi-stage telescoping is realized, and the elongation stroke is increased. Through the sliding of the moving seat along the tensioning lead screw in the clamping assembly, the angle of the articulated mechanism formed by each connecting rod is changed, so as to realize the tensioning of the inner wall of the manhole of the blade cover plate, and the blade cover plate is clamped by the clamping claws to prevent the blade cover plate from sliding. Through the mutual cooperation of each component, the spatial position of the blade cover plate is adjusted, and the installation accuracy and installation efficiency of the wind turbine blade cover plate are improved.

[0005] The present invention provides a wind turbine blade cover plate installation robot, which includes a telescopic assembly, a clamping assembly, a posture adjustment assembly, and a lifting assembly; the telescopic assembly includes a fixed arm, a guide rail, a telescopic middle arm, a telescopic arm, a slider, a telescopic reduction motor, a first sprocket, a first chain, a second sprocket, and a second chain. The fixed arm is connected to the second end face of the telescopic connection seat of the lifting assembly. The guide rails are symmetrically arranged on the telescopic middle arm and the telescopic arm respectively. The fixed arm is slidably connected to the telescopic middle arm through the slider. The telescopic middle arm is slidably connected to the telescopic arm through the slider. The fixed end of the telescopic reduction motor is connected to the fixed arm. The first sprocket is rotatably connected to the first end of the telescopic middle arm. The first end of the first chain is connected to the first end of the fixed arm. The second end of the first chain bypasses the first sprocket and is connected to the telescopic arm. The second sprocket is rotatably connected to the second end of the telescopic middle arm. The first end of the second chain is connected to the second end of the fixed arm. The second end of the second chain bypasses the second sprocket and is connected to the telescopic arm; the clamping assembly includes a tensioning fixed seat, a first connecting rod, a second connecting rod, a moving seat, a third connecting rod, a tensioning connecting plate, a tensioning plate, a clamping claw, a tensioning lead screw, and a motor. The tensioning fixed seat is connected to the output end of the hollow rotating platform of the posture adjustment assembly. The first end of the first connecting rod is rotatably connected to the tensioning fixed seat. The first end of the second connecting rod is rotatably connected to the moving seat. The first end of the second connecting rod is rotatably connected to the first end of the moving seat, and the second end of the first connecting rod is rotatably connected to the middle of the second connecting rod. The first end of the third connecting rod is rotatably connected to the second end of the moving seat. The tensioning connecting plate is rotatably connected to the second end of the second connecting rod and the second end of the third connecting rod respectively. The tensioning plate is connected to the tensioning connecting plate. The clamping claw is rotatably connected to the tensioning plate. The first end of the tensioning lead screw passes through the tensioning fixed seat and the hollow rotating platform of the posture adjustment assembly and is connected to the output shaft of the motor through a coupling and is rotatably connected to the tensioning fixed seat. The second end of the tensioning lead screw is slidably connected to the moving seat; the lifting assembly includes a lifting frame, a first bearing, a chain connecting plate, a first lifting mechanism, and a second lifting mechanism. The first end of the lifting frame is connected to the second end face of the connecting plate of the chassis assembly. The first bearings are symmetrically arranged on both sides of the second end of the lifting frame. The chain connecting plate is connected to the lifting frame. The first lifting mechanism is slidably connected to the lifting frame. The second lifting mechanism is connected to the lifting chain of the first lifting mechanism.

[0006] Preferably, it further includes a chassis assembly, which includes a connecting plate, a chassis frame, universal wheels, omnidirectional steering wheels, an electric control cabinet, a forklift slot, a laser range finder, an ultrasonic range finder, and an edge switch sensor. The chassis frame is connected to the first end face of the connecting plate. The omnidirectional steering wheels are arranged at the two corner positions on the first side of the first end face of the connecting plate. The universal wheels are arranged at the two corner positions on the second side of the first end face of the connecting plate. The electric control cabinet is arranged on the first side of the second end face of the connecting plate. The forklift slot is arranged in the middle of the chassis frame. The laser range finder is arranged on the second side of the second end face of the connecting plate. The ultrasonic range finder is arranged around the connecting plate. The edge switch sensor is arranged on one side of the connecting plate.

[0007] Preferably, the telescopic assembly further includes a connecting flange, a gear, a rack, and a telescopic range sensor. The connecting flange is connected to the telescopic arm. The gear is connected to the output shaft of the telescopic reduction motor. The rack is connected to the telescopic middle arm, and the gear meshes with the rack for transmission. The telescopic range sensor is arranged on the fixed arm.

[0008] Preferably, the first lifting mechanism includes a second bearing, a first lifting arm, a lifting reduction motor, a sprocket shaft, a sprocket shaft support, a first lifting sprocket, a second lifting sprocket, and a lifting chain. The second bearings are symmetrically arranged on both sides of the first lifting arm. The fixed end of the lifting reduction motor is connected to the first end of the first lifting arm. The sprocket shaft is connected to the output end of the lifting reduction motor and is rotatably connected to the sprocket shaft supports on both sides. The first lifting sprockets are symmetrically arranged on both sides of the sprocket shaft. The second lifting sprockets are symmetrically arranged at the second end of the first lifting arm and are rotatably connected to the first lifting arm. The first lifting sprockets and the second lifting sprockets are meshed and driven by the lifting chain.

[0009] Preferably, the second lifting mechanism includes a second lifting arm, a third bearing, and a telescopic connecting seat. The third bearings are symmetrically arranged on both sides of the second lifting arm, and the second lifting arm is slidably connected to the first lifting arm of the first lifting mechanism through the third bearings. The telescopic connecting seat is connected to the second lifting arm.

[0010] Preferably, the attitude adjustment assembly includes a pitching bracket, a pitching reduction motor, a longitudinal bracket, a longitudinal motor, a ball screw, a screw support, a hollow connecting shaft, an optical axis, a rotary connecting seat, a screw slider, an optical axis slider, and a hollow rotary platform. The pitching bracket is connected to the connecting flange of the telescopic assembly. The pitching reduction motor is disposed on one side of the pitching bracket. The output shaft of the pitching reduction motor passes through the pitching bracket and is connected to the longitudinal bracket. The fixed end of the longitudinal motor is connected to the longitudinal bracket. The ball screw is rotatably connected to the longitudinal bracket through the screw supports at both ends, and the ball screw is connected to the output shaft of the longitudinal motor through the hollow connecting shaft. The optical axes are symmetrically disposed on both sides of the ball screw. The rotary connecting seat is slidably connected to the ball screw through the screw slider, and the rotary connecting seat is also slidably connected to the optical axis through the optical axis slider. The fixed end of the hollow rotary platform is connected to the second end of the rotary connecting seat.

[0011] Preferably, the first lifting arm is slidably connected to the lifting frame through the first bearing and the second bearing. The chain connecting plate is connected to the lifting chain, and the first end face of the telescopic connecting seat is connected to the lifting chain.

[0012] Preferably, the rotation axis of the first sprocket is parallel to the rotation axis of the second sprocket, the rotation axis of the first sprocket is perpendicular to the rotation axis of the gear, the first chain is meshed with the first sprocket for transmission, the second chain is meshed with the second sprocket for transmission, and the first chain and the second chain are respectively disposed on both sides of the telescopic middle arm.

[0013] Preferably, the first connecting rods are circumferentially distributed at 120° around the tensioning fixed seat, and the second connecting rod and the third connecting rod are circumferentially distributed at 120° around the moving seat.

[0014] Preferably, the clamping assembly further includes a force sensor. The force sensor is disposed on the tensioning plate, and the lifting assembly and the telescopic assembly are vertically disposed.

[0015] The features and beneficial effects of the present invention are as follows:

[0016] 1. For the wind turbine blade cover installation robot of the present invention, through the meshing transmission of the gear and the rack in the telescopic assembly and the mutual cooperation of the guide rail and the slider, and by the mutual meshing of the chain and the sprocket, a structure similar to a rope row structure is formed to achieve multi-stage telescoping, reduce the space occupied in the contracted state, and increase the elongation stroke.

[0017] 2. The wind power blade cover installation robot of the present invention realizes the tensioning of the inner wall of the manhole of the blade cover by the sliding of the moving seat in the clamping assembly along the tensioning lead screw, and changes the angle of the articulated mechanism formed by each connecting rod. Moreover, the blade cover is clamped by the clamping claws to prevent the blade cover from sliding on the tensioning plate, ensuring that the cover will not loosen or fall during the transfer and installation process.

[0018] 3. The wind power blade cover installation robot of the present invention realizes the adjustment of two rotation directions and longitudinal movement through the posture adjustment assembly, and through the mutual cooperation of each component, realizes the adjustment of the spatial position of the wind power blade cover, improving the installation accuracy and installation efficiency of the wind power blade cover. Brief Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the wind power blade cover installation robot of the present invention;

[0020] Figure 2 is the structural schematic diagram of the chassis assembly in the present invention;

[0021] Figure 3 is the structural schematic diagram of the lifting assembly in the present invention;

[0022] Figure 4 is the partial structural schematic diagram of the lifting assembly in the present invention;

[0023] Figure 5 is the structural schematic diagram of the first lifting mechanism in the present invention;

[0024] Figure 6 is the structural schematic diagram of the second lifting mechanism in the present invention;

[0025] Figure 7 is the structural schematic diagram of the telescopic assembly in the present invention;

[0026] Figure 8 is the partial structural schematic diagram of the first side of the telescopic assembly in the present invention;

[0027] Figure 9 is the partial structural schematic diagram of the second side of the telescopic assembly in the present invention;

[0028] Figure 10 is the structural schematic diagram of the posture adjustment assembly in the present invention;

[0029] Figure 11 is the structural schematic diagram of the clamping assembly in the present invention.

[0030] Main Reference Numerals:

[0031] Chassis assembly 1, connecting plate 11, chassis frame 12, omnidirectional steering wheel 13, universal wheel 14, electrical control cabinet 15, forklift slot 16, laser range sensor 17, ultrasonic range sensor 18, edge switch sensor 19, lifting assembly 2, lifting frame 21, first bearing 22, chain connecting plate 23, first lifting mechanism 24, first lifting arm 241, second bearing 242, lifting reduction motor 243, sprocket shaft 244, sprocket shaft support 245, first lifting sprocket 246, second lifting sprocket 247, lifting chain 248, second lifting mechanism 25, second lifting arm 251, third bearing 252, telescopic connecting seat 253, telescopic assembly 3, fixed arm 301, guide rail 302, telescopic middle arm 303, telescopic arm 304, slider 305, connecting flange 306, telescopic reduction motor 307, gear 308, rack 309, first sprocket 310, first chain 311, second sprocket 312, second chain 313, telescopic range sensor 314, posture adjustment assembly 4, pitching bracket 401, pitching reduction motor 402, longitudinal bracket 403, longitudinal motor 404, ball screw 405, screw support 406, hollow connecting shaft 407, optical axis 408, rotary connecting seat 409, screw slider 410, optical axis slider 411, hollow rotary platform 412, clamping assembly 5, tensioning fixed seat 501, first connecting rod 502, second connecting rod 503, moving seat 504, third connecting rod 505, tensioning connecting plate 506, tensioning plate 507, clamping jaw 508, tensioning lead screw 509, motor 510, force sensor 511. Detailed implementation mode

[0032] To elaborate on the technical content, structural features, achieved objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings of the specification.

[0033] The wind power blade cover installation robot of the present invention, as Figures 1-11 shown, includes a chassis assembly 1, a lifting assembly 2, a telescopic assembly 3, a posture adjustment assembly 4 and a clamping assembly 5. The lifting assembly 2 is located above the chassis assembly 1, the telescopic assembly 3 is located on one side of the lifting assembly 2, the posture adjustment assembly 4 is located on one side of the lifting assembly 2, and the clamping assembly 5 is located on one side of the posture adjustment assembly 4. And the lifting assembly 2 and the telescopic assembly 3 are vertically arranged.

[0034] The chassis assembly 1 includes a connecting plate 11, a chassis frame 12, omnidirectional steering wheels 13, universal wheels 14, an electric control cabinet 15, a forklift slot 16, a laser range sensor 17, an ultrasonic range sensor 18, and an edge switch sensor 19. The chassis frame 12 is connected to the first end face of the connecting plate 11. The omnidirectional steering wheels 13 are arranged at the two corner positions on the first side of the first end face of the connecting plate 11. The universal wheels 14 are arranged at the two corner positions on the second side of the first end face of the connecting plate 11. The electric control cabinet 15 is arranged on the first side of the second end face of the connecting plate 11. The forklift slot 16 is arranged in the middle of the chassis frame 12. The laser range sensor 17 is arranged on the second side of the second end face of the connecting plate 11. The ultrasonic range sensor 18 is arranged around the connecting plate 11. The edge switch sensor 19 is arranged on one side of the connecting plate 11.

[0035] The lifting assembly 2 includes a lifting frame 21, a first bearing 22, a chain connecting plate 23, a first lifting mechanism 24, and a second lifting mechanism 25. The first end of the lifting frame 21 is connected to the second end face of the connecting plate 11 of the chassis assembly 1. The first bearings 22 are symmetrically arranged on both sides of the second end of the lifting frame 21. The chain connecting plate 23 is connected to the lifting frame 21. The first lifting mechanism 24 is slidably connected to the lifting frame 21. The second lifting mechanism 25 is connected to the lifting chain 248 of the first lifting mechanism 24. The first lifting mechanism 24 includes a first lifting arm 241, a second bearing 242, a lifting reduction motor 243, a sprocket shaft 244, a sprocket shaft support 245, a first lifting sprocket 246, a second lifting sprocket 247, and a lifting chain 248. The first lifting arm 241 is slidably connected to the lifting frame 21. The second bearings 242 are symmetrically arranged on both sides of the first lifting arm 241. The fixed end of the lifting reduction motor 243 is connected to the first end of the first lifting arm 241. The sprocket shaft 244 is connected to the output end of the lifting reduction motor 243 and is rotatably connected to the sprocket shaft supports 245 on both sides. The first lifting sprockets 246 are symmetrically arranged on both sides of the sprocket shaft 244. The second lifting sprockets 247 are symmetrically arranged at the second end of the first lifting arm 241 and are rotatably connected to the first lifting arm 241. The first lifting sprockets 246 and the second lifting sprockets 247 are meshed and driven by the lifting chain 248. The second lifting mechanism 25 includes a second lifting arm 251, a third bearing 252, and a telescopic connection seat 253. The third bearings 252 are symmetrically arranged on both sides of the second lifting arm 251. The second lifting arm 251 is slidably connected to the first lifting arm 241 of the first lifting mechanism 24 through the third bearings 252. The telescopic connection seat 253 is connected to the second lifting arm 251. The first lifting arm 241 and the lifting frame 21 are slidably connected through the first bearing 22 and the second bearing 242. The chain connecting plate 23 is connected to the lifting chain 248. The first end face of the telescopic connection seat 253 is connected to the lifting chain 248.

[0036] The telescopic component 3 includes a fixed arm 301, a guide rail 302, a telescopic middle arm 303, a telescopic arm 304, a slider 305, a connecting flange 306, a telescopic reduction motor 307, a gear 308, a rack 309, a first sprocket 310, a first chain 311, a second sprocket 312, a second chain 313, and a telescopic distance measuring sensor 314. The fixed arm 301 is connected to the second end face of the telescopic connection seat 253 of the lifting component 2. The guide rails 302 are symmetrically arranged on the telescopic middle arm 303 and the telescopic arm 304 respectively. The fixed arm 301 is slidably connected to the telescopic middle arm 303 through the slider 305, and the telescopic middle arm 303 is slidably connected to the telescopic arm 304 through the slider 305. The connecting flange 306 is connected to the telescopic arm 304. The fixed end of the telescopic reduction motor 307 is connected to the fixed arm 301. The output shaft of the telescopic reduction motor 307 passes through the fixed arm 301 and is connected to the gear 308. The rack 309 is connected to the telescopic middle arm 303, and the gear 308 meshes with the rack 309 for transmission. The first sprocket 310 is rotatably connected to the first end of the telescopic middle arm 303. The first end of the first chain 311 is connected to the first end of the fixed arm 301. The second end of the first chain 311 bypasses the first sprocket 310 and is connected to the telescopic arm 304. The second sprocket 312 is connected to the second end of the telescopic middle arm 303. The first end of the second chain 313 is connected to the second end of the fixed arm 301. The second end of the second chain 313 bypasses the second sprocket 312 and is connected to the telescopic arm 304. The telescopic distance measuring sensor 314 is arranged on the fixed arm 301. The rotation axis of the first sprocket 310 is parallel to the rotation axis of the second sprocket 312. The rotation axis of the first sprocket 310 is perpendicular to the rotation axis of the gear 308. The first chain 311 meshes with the first sprocket 310 for transmission. The second chain 313 meshes with the second sprocket 312 for transmission. The first chain 311 and the second chain 313 are respectively arranged on both sides of the telescopic middle arm 303.

[0037] The posture adjustment assembly 4 includes a pitching bracket 401, a pitching reduction motor 402, a longitudinal bracket 403, a longitudinal motor 404, a ball screw 405, a screw support 406, a hollow connecting shaft 407, an optical axis 408, a rotary connecting seat 409, a screw slider 410, an optical axis slider 411, and a hollow rotary platform 412. The pitching bracket 401 is connected to the connecting flange 306 of the telescopic assembly 3. The pitching reduction motor 402 is arranged on one side of the pitching bracket 403. The output shaft of the pitching reduction motor 402 passes through the pitching bracket 401 and is connected to the longitudinal bracket 403. The fixed end of the longitudinal motor 404 is connected to the longitudinal bracket 403. The ball screw 405 is rotatably connected to the longitudinal bracket 403 through the screw supports 406 at both ends, and the ball screw 405 is connected to the output shaft of the longitudinal motor 404 through the hollow connecting shaft 407. The optical axes 408 are symmetrically arranged on both sides of the ball screw 405. The rotary connecting seat 409 is slidably connected to the ball screw 405 through the screw slider 410, and the rotary connecting seat 409 is also slidably connected to the optical axes 408 through the optical axis slider 411. The fixed end of the hollow rotary platform 412 is connected to the rotary connecting seat 409.

[0038] The clamping assembly 5 includes a tensioning and fixing seat 501, a first connecting rod 502, a second connecting rod 503, a moving seat 504, a third connecting rod 505, a tensioning connecting plate 506, a tensioning plate 507, a clamping jaw 508, a tensioning screw 509, a motor 510, and a force sensor 511. The tensioning and fixing seat 501 is connected to the output end of the hollow rotary platform 412 of the posture adjustment assembly 4. The first end of the first connecting rod 502 is rotatably connected to the tensioning and fixing seat 501. The first end of the second connecting rod 503 is rotatably connected to the moving seat 504. The first end of the second connecting rod 503 is rotatably connected to the first end of the moving seat 504, and the second end of the first connecting rod 502 is rotatably connected to the middle of the second connecting rod 503. The first end of the third connecting rod 505 is rotatably connected to the second end of the moving seat 504. The tensioning connecting plate 506 is respectively rotatably connected to the second end of the second connecting rod 503 and the second end of the third connecting rod 505. The tensioning plate 507 is connected to the tensioning connecting plate 506. The clamping jaw 508 is rotatably connected to the tensioning plate 507. The first end of the tensioning screw 509 passes through the tensioning and fixing seat 501 and the hollow rotary platform 412 of the posture adjustment assembly 4 and is connected to the output shaft of the motor 510 through a coupling, and is rotatably connected to the tensioning and fixing seat 501. The second end of the tensioning screw 509 is slidably connected to the moving seat 504. The force sensor 511 is arranged on the tensioning plate 507. The first connecting rods 502 are circumferentially distributed at 120° around the circumference of the tensioning and fixing seat 501. The second connecting rods 503 and the third connecting rods 505 are circumferentially distributed at 120° around the circumference of the moving seat 504.

[0039] The following further describes a wind power blade cover installation robot of the present invention in conjunction with embodiments. The use process of the wind power blade cover installation robot of the present invention is as follows:

[0040] First, control the chassis assembly 1 to move the robot to the position where the wind turbine blade cover plate is placed. Adjust the spatial position of the clamping assembly 5 through the lifting assembly 2, the telescopic assembly 3, and the posture adjustment assembly 4, so that the clamping assembly 5 extends into the manhole of the wind turbine blade cover plate. Drive the moving seat 504 through the tensioning lead screw 509, so that the angles of the articulated mechanism composed of the first link 502, the second link 503, and the third link 505 change, realizing that the tensioning plate 507 simultaneously tightens the inner wall of the manhole of the wind turbine blade cover plate. Detect the tightening force of the tensioning plate 507 on the inner wall of the manhole through the force sensor 511, to avoid damaging the wind turbine blade cover plate due to excessive force applied. When the edge of the manhole of the wind turbine blade cover plate contacts the tensioning plate 507, one end of the clamping claw 508 is squeezed by the wind turbine blade cover plate, causing an angular change, thereby realizing the clamping of the wind turbine blade cover plate, preventing the blade cover plate from sliding on the tensioning plate 507, and ensuring that the cover plate will not loosen or fall during the transfer and installation process. At this time, the wind turbine blade cover plate and the clamping assembly 5 form a whole.

[0041] Then, adjust the clamping assembly 5 to the horizontal position through the posture adjustment assembly 4. At the same time, adjust the cross-section of the wind turbine blade cover plate to be parallel to the ground through the hollow rotary platform 412. Then control the chassis assembly 1 to move the installation robot close to the root of the wind turbine blade. Raise the wind turbine blade cover plate to the corresponding height relative to the root of the wind turbine blade through the lifting assembly 2, so that the wind turbine blade cover plate is concentric with the blade. Since the shape of the wind turbine blade cover plate is semi-circular, distributed installation is adopted. Control the stopping position of the installation robot according to the laser distance sensor 17 of the chassis assembly 1. Cooperate with the clamping assembly 5 through the telescopic distance sensor 314 to adjust the position of the wind turbine blade cover plate inside the root of the wind turbine blade. Through the multi-stage telescoping of the gear 308 and the rack 309 of the telescopic assembly 3 as the driving parts, the wind turbine blade cover plate to be installed enters the inside of the wind turbine blade. Real-time detect the distance between the wind turbine blade cover plate and the fixed arm 301 through the telescopic distance sensor 314, and then the distance between the wind turbine blade cover plate and the end face of the wind turbine blade can be obtained.

[0042] Finally, when it reaches the installation position inside the wind turbine blade, there is still a small distance gap with the inner wall of the wind turbine blade at this time. The posture adjustment assembly 4 will be used to adjust the wind turbine blade cover plate again to make it fit the inner wall of the wind turbine blade for installation. When the installation conditions are met, fix the wind turbine blade cover plate and the inner wall of the wind turbine blade, and drive the moving seat 504 to move in the opposite direction through the tensioning lead screw 509, ending the tensioning and clamping of the wind turbine blade cover plate, thereby completing the installation of the wind turbine blade cover plate.

[0043] The wind power blade cover plate installation robot of the present invention realizes multi-stage telescoping by the meshing transmission of the gear 308 and the rack 309 in the telescoping assembly 3, and through the meshing of the chain and the sprocket, increasing the elongation stroke. By the sliding of the moving seat 504 along the tensioning lead screw 509 in the clamping assembly 5, the angle of the articulated mechanism formed by each connecting rod is changed, realizing the tensioning of the inner wall of the manhole of the blade cover plate, and clamping the blade cover plate by the clamping claws 508 to prevent the blade cover plate from sliding. Through the mutual cooperation of each component, the spatial position of the blade cover plate is adjusted, improving the installation accuracy and installation efficiency of the wind power blade cover plate.

[0044] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A wind turbine blade cover installation robot, characterized in that: It includes a telescopic component, a clamping component, a posture adjustment component, a lifting component and a chassis component; The lifting assembly is located above the chassis assembly, the telescopic assembly is located on one side of the lifting assembly, the posture adjustment assembly is located on one side of the lifting assembly, the clamping assembly is located on one side of the posture adjustment assembly, and the lifting assembly and the telescopic assembly are vertically arranged; The telescopic assembly comprises a fixed arm, a guide rail, a telescopic middle arm, a telescopic arm, a slider, a telescopic reduction motor, a first sprocket, a first chain, a second sprocket and a second chain. The fixed arm is connected to the second end surface of the telescopic connection seat of the lifting assembly. The guide rails are symmetrically arranged on the telescopic middle arm and the telescopic arm respectively. The fixed arm is slidably connected to the telescopic middle arm through the slider. The telescopic middle arm is slidably connected to the telescopic arm through the slider. The fixed end of the telescopic reduction motor is connected to the fixed arm. The first sprocket is rotatably connected to the first end of the telescopic middle arm. The first end of the first chain is connected to the first end of the fixed arm. The second end of the first chain bypasses the first sprocket and is connected to the telescopic arm. The second sprocket is connected to the second end of the telescopic middle arm. The first end of the second chain is connected to the second end of the fixed arm. The second end of the second chain bypasses the second sprocket and is connected to the telescopic arm. The pitch bracket of the posture adjustment assembly is connected to the connecting flange of the telescopic assembly. The clamping assembly comprises a tensioning fixed seat, a first connecting rod, a second connecting rod, a movable seat, a third connecting rod, a tensioning connecting plate, a tensioning plate, a clamping claw, a tensioning screw and a motor, the tensioning fixed seat is connected to the output end of the hollow rotating platform of the posture adjustment component, the first end of the first connecting rod is rotatably connected to the tensioning fixed seat, the first end of the second connecting rod is rotatably connected to the movable seat, the first end of the second connecting rod is rotatably connected to the first end of the movable seat, and the second end of the first connecting rod is rotatably connected to the middle part of the second connecting rod, the first end of the third connecting rod is rotatably connected to the second end of the movable seat, the tensioning connecting plate is rotatably connected to the second end of the second connecting rod and the second end of the third connecting rod respectively, the tensioning plate is connected to the tensioning connecting plate, the clamping claw is rotatably connected to the tensioning plate, the first end of the tensioning screw passes through the tensioning fixed seat and the hollow rotating platform of the posture adjustment component and is connected to the output shaft of the motor through a coupling, and is rotatably connected to the tensioning fixed seat, and the second end of the tensioning screw is slidably connected to the movable seat; The lifting assembly includes a lifting frame, a first bearing, a chain connecting plate, a first lifting mechanism and a second lifting mechanism. The first end of the lifting frame is connected to the second end surface of the connecting plate of the chassis assembly, the first bearing is symmetrically arranged on both sides of the second end of the lifting frame, the chain connecting plate is connected to the lifting frame, the first lifting mechanism is slidably connected to the lifting frame, and the second lifting mechanism is connected to the lifting chain of the first lifting mechanism.

2. The wind turbine blade cover installation robot according to claim 1, characterized in that: The chassis assembly includes a connecting plate, a chassis frame, a universal wheel, an omnidirectional steering wheel, an electric control cabinet, a forklift slot, a laser ranging sensor, an ultrasonic ranging sensor and an edge switch sensor. The chassis frame is connected to the first end face of the connecting plate, the omnidirectional steering wheel is arranged at two corner positions on the first side of the first end face of the connecting plate, the universal wheel is arranged at two corner positions on the second side of the first end face of the connecting plate, the electric control cabinet is arranged on the first side of the second end face of the connecting plate, the forklift slot is arranged in the middle of the chassis frame, the laser ranging sensor is arranged on the second side of the second end face of the connecting plate, the ultrasonic ranging sensor is arranged around the connecting plate, and the edge switch sensor is arranged on one side of the connecting plate.

3. The wind turbine blade cover installation robot according to claim 1, characterized in that: The telescopic assembly also includes a connecting flange, a gear, a rack and a telescopic ranging sensor. The connecting flange is connected to the telescopic arm, the gear is connected to the output shaft of the telescopic reduction motor, the rack is connected to the telescopic middle arm, and the gear is meshed with the rack for transmission. The telescopic ranging sensor is arranged on the fixed arm.

4. The wind turbine blade cover installation robot according to claim 1, characterized in that: The first lifting mechanism includes a second bearing, a first lifting arm, a lifting reduction motor, a sprocket shaft, a sprocket shaft support, a first lifting sprocket, a second lifting sprocket and a lifting chain. The second bearing is symmetrically arranged on both sides of the first lifting arm. The fixed end of the lifting reduction motor is connected to the first end of the first lifting arm. The sprocket shaft is connected to the output end of the lifting reduction motor and is rotatably connected to the sprocket shaft supports on both sides. The first lifting sprocket is symmetrically arranged on both sides of the sprocket shaft. The second lifting sprocket is symmetrically arranged at the second end of the first lifting arm and is rotatably connected to the first lifting arm. The first lifting sprocket and the second lifting sprocket are meshed and transmitted through the lifting chain.

5. The wind turbine blade cover installation robot according to claim 4, characterized in that: The second lifting mechanism includes a second lifting arm, a third bearing and a telescopic connecting seat, the third bearing is symmetrically arranged on both sides of the second lifting arm, and the second lifting arm is slidably connected to the first lifting arm of the first lifting mechanism through the third bearing, and the telescopic connecting seat is connected to the second lifting arm.

6. The wind turbine blade cover installation robot according to claim 1 or 3, characterized in that: The posture adjustment component includes a pitch bracket, a pitch reduction motor, a longitudinal bracket, a longitudinal motor, a ball screw, a screw support, a hollow connecting shaft, an optical axis, a rotating connecting seat, a screw slider, an optical axis slider and a hollow rotating platform. The pitch reduction motor is arranged on one side of the pitch bracket, the output shaft of the pitch reduction motor passes through the pitch bracket and is connected to the longitudinal bracket, the fixed end of the longitudinal motor is connected to the longitudinal bracket, the ball screw is rotatably connected to the longitudinal bracket through the screw supports at both ends, and the ball screw is connected to the output shaft of the longitudinal motor through the hollow connecting shaft, the optical axis is symmetrically arranged on both sides of the ball screw, the rotating connecting seat is slidably connected to the ball screw through the screw slider, the rotating connecting seat is also slidably connected to the optical axis through the optical axis slider, and the fixed end of the hollow rotating platform is connected to the second end of the rotating connecting seat.

7. The wind turbine blade cover installation robot according to claim 5, characterized in that: The first lifting arm is slidably connected to the lifting frame via the first bearing and the second bearing, the chain connecting plate is connected to the lifting chain, and the first end surface of the telescopic connecting seat is connected to the lifting chain.

8. The wind turbine blade cover installation robot according to claim 3, characterized in that: The rotation axis of the first sprocket is parallel to the rotation axis of the second sprocket, the rotation axis of the first sprocket is perpendicular to the rotation axis of the gear, the first chain is meshed with the first sprocket for transmission, the second chain is meshed with the second sprocket for transmission, and the first chain and the second chain are respectively arranged on both sides of the telescopic middle arm.

9. The wind turbine blade cover installation robot according to claim 1, characterized in that: The first connecting rod is distributed on the circumference of the tensioning fixing seat in a 120° circle, and the second connecting rod and the third connecting rod are distributed on the circumference of the moving seat in a 120° circle.

10. The wind turbine blade cover installation robot according to claim 1, characterized in that: The clamping assembly further comprises a force sensor, and the force sensor is arranged on the tensioning plate. The lifting assembly and the telescopic assembly are arranged vertically.

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